Tele-impedance based assistive control for a compliant knee exoskeleton

Karavas, Nikos; Ajoudani, Arash; Tsagarakis, Nikos G.; Saglia, Jody A.; Bicchi, Antonio; Caldwell, Darwin G.

doi:10.1016/j.robot.2014.09.027

Cited by 115 publications

(69 citation statements)

References 48 publications

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“…In tele-impedance, a compound reference command which includes the position and stiffness profiles of the master is replicated by a slave robot in real-time. Several physical interaction scenarios have been investigated to evaluate the efficiency of the proposed framework in establishment of an appropriate mechanical interface between the robot and the uncertain environment [4], [5]. As an extension, the work below presents a pilot study in modelling and real-time tracking of the human finger stiffness for future applications in rehabilitation robotics or other teleoperation scenarios.…”

Section: Introductionmentioning

confidence: 99%

Electromyographic mapping of finger stiffness in tripod grasp: a proof of concept

Rossi

Altobelli

Godfrey

et al. 2015

2015 IEEE International Conference on Rehabilitation Robotics (ICORR)

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Effective execution of a manipulation task using prosthetic or robotic hands requires that the motion and the impedance profiles of the fingers be appropriately commanded. This, however, brings some design and control challenges regarding the individual planning and realization of the finger motion and stiffness trajectories. It appears that the central nervous system solves for this complexity in an effective and coordinated manner which has been well-recognized under the concept of hand synergies. While the exploitation of this concept in kinematic coordinates has lead to the development of several successful robotic designs and control strategies, its extension to dynamic coordinates, such as coordinated stiffening of the fingers, remains to be investigated. Indeed, in this study we provide preliminary evidence on the existence of such coordinated stiffening patterns in human fingers and establish initial steps towards a real-time and effective modelling of the finger stiffness in a tripod grasp. To achieve this goal, the endpoint stiffness of the thumb, index and middle fingers of five healthy subjects are experimentally identified and correlated with the electromyography (EMG) signals recorded from a dominant antagonistic pair of the forearm muscles. Our findings suggest that: i) the magnitude of the stiffness ellipses at the fingertips grows in a coordinated way, subsequent to the co-contraction of the forearm muscles; ii) the length of the ellipses' axes appears to have a nearly linear relationship with the co-contraction level of the antagonistic muscle pair

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Section: Introductionmentioning

confidence: 99%

Electromyographic mapping of finger stiffness in tripod grasp: a proof of concept

Rossi

Altobelli

Godfrey

et al. 2015

2015 IEEE International Conference on Rehabilitation Robotics (ICORR)

Self Cite

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“…In the free motion mode, the exoskeleton followed the movement of the lower limb without hindering the pilot's manoeuvrability. Alongside of this, Karavas et al [171] have developed a tele-impedance-based assistive controller that can be used to control the active impedance of an exoskeleton in real-time according to the stiffness estimated from the EMG of a pilot's leg.…”

Section: Control Strategymentioning

confidence: 99%

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention. A number of review articles have focused on describing the mechanical design of exoskeleton robots, their control methods, human-exoskeleton robot interfaces, and so on. None, however, have focused on the coordination of control between humans and these kinds of robots. In this paper, we examine the research regarding human-exoskeleton robot coordinated control to capture the current state-of-the-art. One hundred and fifty six relevant articles were collected and screened from the Web of science, and classified into six categories, based on human neurobiology and exoskeleton robots' assistive effects. These categories were further subdivided according to their perspective on human-exoskeleton robots coordinated control. The paper extensively reviews various control methods we uncovered and how they are coordinated between wearer and exoskeleton robot.

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“…Literature reports a multitude of devices employing series elastic [2], pneumatic [3] and variable impedance actuators [4] which found their natural application in rehabilitation [5], telemanipulation [6] and in general for all those tasks which can benefit from force limitation and fine regulation of the interaction at the end effector.…”

Section: Introductionmentioning

confidence: 99%

Soft wearable assistive robotics: exosuits and supernumerary limbs

2018

Wearable Exoskeleton Systems: Design, Control and Applications

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Tele-impedance based assistive control for a compliant knee exoskeleton

Cited by 115 publications

References 48 publications

Electromyographic mapping of finger stiffness in tripod grasp: a proof of concept

Electromyographic mapping of finger stiffness in tripod grasp: a proof of concept

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Soft wearable assistive robotics: exosuits and supernumerary limbs

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